DETERMINATION OF AVAILABLE TRANSFER CAPABILITY UNDER

DYNAMIC CONDITION

SSENNOGA TWAHA

UNIVERSITI TEKNOLOGI MALAYSIA

i

DETRMINATION OF AVAILABLE TRANSFER CAPABILITY UNDER

DYNAMIC CONDITION

SSENNOGA TWAHA

A project report submitted in partial fulfilment of the

requirements for the award of the degree of

Master of Engineering (Electrical-Power)

Faculty of Electrical Engineering

Universiti Teknologi Malaysia

JANUARY 2012

iii

This project report is dedicated to my beloved mother, father, my wife,

family and in-laws including my children; daughter Nalumansi Aeshah

Twaha and son Abdul-Hafiz Anwar Twaha Ssennoga.

iv

ACKNOWLEDGEMENT

First of all, I would like to thank the Almighty Allah, for His

favours, help and knowledge He has bestowed upon me to be one of the few

lucky students who have pursued their master program at Universiti

Teknologi Malaysia. Praise be to Allah “the Great,” for I wouldn’t be in

position to complete the project tasks without his permission.

I would like to extend my sincere gratitude to the few for their

precious sacrifice towards the completion of this project.

My heartfelt thanks go to the Islamic development bank (IDB) for

sponsoring my studies at master level at Universiti Teknologi Malaysia

(UTM).

My sincere thanks to my supervisor for the academic and general

guidance during the beginning of the project up to project report

completion; may the Almighty, reward him the best reward out of his

efforts. Also special thanks to Faculty of Electrical Engineering lecturers

and staff without discriminating any one, for their heartfelt support towards

my studies especially during the project period.

I may not forget all my course mates at FKE and other students for

their support and guidance rendered to me resulting into a successful

project. Last but not least, I would like to deeply thank my family especially

my wife for their social and welfare tasks towards me while executing this

work.

May I end by thanking Allah, May He bestow the peace and

blessings to His Messenger Muhammad (S.A.W) as well as the companions

for their tireless struggle towards His religion Islam. May Allah reward all

of us Al-Janatul Firdaus, Ameen.

v

ABSTRACT

ATC is an index which is determined by considering both static and

dynamic constraints. Several researchers have proposed various methods

for determining SATC, including DC load flow based, stochastic,

continuation power flow, to mention but a few considerations of dynamic

constraints. The methods to determine dynamic ATC include the use of

neural networks, and so on. The existing methods are quite complicated and

considerably slow in determining ATC especially when TSA is involved in

the process. In this project, a method to determine ATC under dynamic

condition using Fast Decoupled Power Flow Solution has been proposed

and developed. This technique is a powerful analytical tool involving

numerical analysis based on a famous Newton Raphson method which is

used for routine solution. Matlab has been used as a programming tool.

MATLAB is a high-level technical computing language with interactive

environment for algorithm development, data visualization, data analysis.

The developed program has been tested on IEEE 30 bus practical power

system. The results obtained from the tests have been compared with the

results from the previous study on dynamic ATC. The results show that the

proposed technique is comparably accurate and faster than the existing

method.

vi

ABSTRAK

ATC merupakan indeks yang ditentukan oleh mengingati kedua-dua

kekangan statik dan dinamik. Beberapa penyelidik telah mencadangkan

pelbagai kaedah untuk menentukan SATC, termasuk aliran beban

berasaskan DC, stokastik, kuasa aliran kesinambungan, menyebut tetapi

pertimbangan beberapa kekangan yang dinamik. Kaedah-kaedah untuk

menentukan dinamik ATC termasuk penggunaan rangkaian neural, dan

sebagainya. Kaedah semasa yang agak rumit dan kurang cepat dalam

menentukan ATC terutamanya apabila TSA yang terlibat dalam proses.

Dalam laporan projek ini, satu kaedah untuk menentukan ATC di bawah

keadaan dinamik menggunakan Kuasa Fast dipisahkan Aliran Solution telah

dicadangkan dan dibangunkan. Fast decouple adalah alat yang berkuasa

analisis melibatkan analisis berangka yang berdasarkan kaedah Newton

Raphson terkenal yang digunakan untuk penyelesaian rutin. Matlab telah

digunakan sebagai alat pengaturcaraan. MATLAB adalah bahasa peringkat

tinggi pengkomputeran teknikal dengan persekitaran interaktif untuk

pembangunan algoritma, visualisasi data, analisis data. Program yang

dibangunkan telah diuji ke atas IEEE 30 kuasa sistem bas praktikal.

Keputusan yang diperolehi daripada ujian telah dibandingkan dengan

keputusan daripada kajian sebelumnya dinamik ATC. Keputusan

menunjukkan bahawa teknik yang dicadangkan comparably tepat dan lebih

cepat daripada kaedah yang sedia ada.

vii

TABLE OF CONTENTS

CHAPTER TITLE PAGE

DECLARATION ii

DEDICATION iii

ACKNOWLEDGEMENT iv

ABSTRACT v

ABSTRAK vi

TABLE OF CONTENTS vii

LIST OF TABLES ix

LIST OF FIGURES x

LIST OF ABBREVIATIONS xiii

LIST OF SYMBOLS xiv

1 INTRODUCTION 1

1.1 Background 1

1.2 Project Objectives 4

1.3 Problem statement 4

1.4 Project Scope 4

1.5 Outline of the project report 5

2 LITERATURE REVIEW 6

2.1 introduction 6

2.2 The concept of ATC and related terms 6

2.2.1 Classification of ATC 7

2.2.2 ATC and related terms 7

2.2.3 Total transfer capability 7

2.3 Conditions for the operation of a power system 8

2.3.1 The concept power system operating limits 8

2.3.2 Definitions and Classification of PS Stability 9

2.3.3 Small angle disturbance concept 9

2.4 The concept of transient stability 10

viii

2.4.1 Power-angle relationship 11

2.4.2 Rotor Dynamics and the Swing Equation 13

2.4.3 The Practical Concept of Equal area criterion 14

2.5 Power system models 15

2.5.1 Generator model 16

2.6 The optimal power flow concept 18

2.7 Performance indices for transient stability analysis 19

2.7.1 Transient stability margin 20

2.8 Previous work on ATC computation 22

2.8.1 Stochastic Parallel Algorithm Based Evaluation

of ATC 22

2.8.2 Assessment on the technique 24

2.8.3 Analysis of ATC Determination by PTDF 25

2.9 Summary 29

3 METHODOLOGY 30

3.1 Introduction 30

3.2 Modification of Fast Decouple Power Flow for SATC 31

3.2.1 Implementation of SATC Algorithm 33

3.3 Proposed approach to transient stability analysis 34

3.3.1 The concept for Transient stability Analysis 34

3.3.2 Procedure for determining stability 34

3.3.3 Implementation of TSA in Matlab 37

3.4 Algorithm and code for computation of DATC 38

3.5 Summary 38

4 RESULT AND ANALYSIS 39

4.1 Introduction 39

4.2 Power flow results 39

4.3 Static ATC results 40

4.3.1 Analysis of Bilateral transactions 42

4.4 Transient stability test results 43

4.4.1 Case when a fault applied to bus 7 44

4.4.2 Case when a fault applied to bus 2 46

4.4.3 Discussion of results for TSA 51

4.5 Dynamic ATC results 50

ix

4.6 Validation of results 52

4.6.1 Validation of SATC 52

4.6.2 Validation DATC results 53

4.7 Summary 59

5 CONCLUSIONS AND FUTURE WORK 57

5.1 Conclusions 57

5.2 Future work 58

REFERENCES 59

Appendices A - K 62

x

LIST OF TABLES

TABLE NO. TITLE PAGE

2.1. Statistical indices OF ATC 25

2.2 ATC (MW) - IEEE 30 bus system 28

2.3. Execution time in seconds for ATC determination

of three test systems

28

3.1 The generator data matrix for ‘trstab’ program 37

4.1 SATC results with seller bus 2 and buyer bus 4 40

4.2 SATC result with seller bus 2 and buyer bus 28 41

4.3 SATC Transactions from Area 1 to Area 2 42

4.4 SATC Transactions from Area 1 to Area 3 42

4.5 Generator data results of the trstab function 44

4.6 Selected stability points against the generator phase

angles (δ)

48

4.8 DATC transactions from Area 1 to Area 2 50

4.8 DATC transactions from Area 1 to Area 3 51

4.9 The four selected SATC methods for comparison 52

xi

LIST OF FIGURES

FIGURE NO. TITLE PAGE

2.1 Classification of power system stability 9

2.2 Examples of the generator swing curves 11

2.3 Power-angle relationship 12

2.4 Power-angle relationship with one circuit out of

service

12

2.5 Power-angle characteristics of a single machine 14

2.6 The generator connected to turbine 16

2.7 The generator model 18

2.8 The accelerating and decelerating areas 20

2.9 Flowchart of ATC assessment by parallel

computing

23

2.10 Divided areas of IEEE 30-bus system 24

2.11 The flow chart for the analysed technique 27

3.1 Flow Chart of the methodology 31

3.2 Simple harmonic motion of the generator due to

change in rotor angle

36

4.1 Comparison of SATC between transacting areas 43

4.2a Angle differences do not increase: Stable 45

4.2b Some of angle differences increases indefinitely; 46

xii

Unstable

4.3a Fault at bus 2, angle differences do not increase;

stable

47

4.3b All angle differences increase indefinitely; unstable 47

4.4 Fault at 3, 3-4 removed 49

4.5 Comparison of DATC between regional

transactions

51

4.6 Percentage deviation of other methods with respect

to power world

53

4.7 ATC for 39-bus New England system for constant

impedance load models

54

4.8 ATC for 246-bus NREB system for constant

impedance loads

54

4.9 Comparison of SATC and DATC from Fast

decouple method

55

xiii

LIST OF ABBREVIATIONS

ACPTDF − AC Power Transfer Distribution Factor

ATC − Available Transfer Capability

CEED − Combined economic emission dispatch

CIGRE− Conseil International des Grands Reseux Electriques

COI − Center of inertia

DATC − Dynamic Available Transfer Capability

DC PTDF− DC Power Transfer Distribution Factor

IEEE − Institute of Electrical and Electronics Engineers

MVA − Mega volt ampere

MW − Mega watt

NERC − North American Electric Reliability Council

NRLF − Newton Raphson Load Flow method

SATC − Static Available Transfer Capability

SO − System Operator

TDS − Time domain simulation

TRM − Transmission Reliability Margin

TSA − Transient Stability Analysis

TSM − Transient stability margin

TTC − Total Transfer Capability

xiv

LIST OF SYMBOLS

Pe∆ − Change in electrical load

δ∆ − Change in the rotor angle

Pe − Electrical Power

Pm − Mechanical Power

ωo − Angular velocity

Telect − Electric torque

Tmech − mechanical torque

Tnet − Net torque

Δδ − Phase angle deviation

Δω − Deviations of the angular speed

Pl − The transmission line loss

Pi − The active power injection at bus i

Pgi − The active power generation, and

Ploadi − Active load at bus i

NG − Total number of generator buses (or PV buses)

N − Total number of buses

|Vi| − Voltage magnitude of the i-th bus

|Vk| − Voltage magnitude of the k-th bus

δi − Voltage angle of the i-th bus and

xv

δk − Voltage angle of the k-th bus (bus number 1 is the slack bus)

Hi − Inertia constant of each generator

Ht − Total inertia constant of the generators

θi − Rotor angle with respect to COI

θicl − Rotor angle of i-th generator at fault clearing

tcl − Time of clearing the fault

T − Short period after fault clearing

Ybus − bus dmittance matrix

E − Generator excitation voltage

Δmin − Minimum allowable generator angle

Δmax − Maximum allowable generator angle

tcr − Critical clearing time

1

CHAPTER 1

INTRODUCTION

1.1 Background

The transition of power industry to a market free economy in power industry has

raised a concern for power consumers to have more choices than ever before. Open-access

non-discriminatory transmission services are a necessity to ensure these customer choices.

An index called Available Transfer Capability (ATC) is necessary to be evaluated

continuously for managing the transfer capability between the generation and the power

distributors for success handling of power transactions. However, while evaluating ATC

(Shin, Kim, Kim, & Singh, 2007), it is desirable to quantify the uncertainties such as load

deviations and transmission outages in ATC calculation as a safety margin so that the power

system will remain secure despite the uncertainties.

ATC is a measure of the transfer capability remaining in the physical transmission

network for further commercial activity over and above already committed uses(Reliability,

1996). The ATC between two areas provides an indication of the amount of additional

electric power that can be transferred from one area to another for a specific time frame under

a specific set of conditions. ATC calculations may need to be periodically updated from time

to time to ensure the correct allocation of transmission capacity for a given transaction to

avoid network interruptions which may result. Because of the influence of conditions

2

throughout the network, the accuracy of the ATC calculation is highly dependent on the

completeness and accuracy of available network data.

While determining ATC, both static conditions like voltage limits, thermal limits,

reactive power limits as well as dynamic constraints such as three phase faults may have to be

considered to ensure maximum possible accuracy and reliability of the transmission system.

However, ATC can also be determined separately under dynamic or static conditions

depending on the nature of the system being analysed.

Many researchers have proposed techniques (D.-M. Kim, Bae, & Kim, 2010; Vol, Wen-

Juan, Lei, & Qiu-Lan, 2008; Westermann & Sauvain, 2009) to determine ATC based on

static constraints with little if any, consideration of dynamic constraints. A novel fast

computational method to determine ATC was proposed in. The ATC limiting factors

considered in the method are, line thermal limits, bus voltage limits and Generator reactive

power limits. Mum Kyeom K et al presented a method to determine ATC using multi-

objective contingency constrained optimal power flow with post-contingency corrective

rescheduling taking voltage and reactive power limits as the static constraints. A novel

method for computing ATC in a large-scale power system in was also presented in which full

details for determining ATC was based on only three input variables through fuzzy

modelling. A fast and accurate method was proposed in (Busan, Othman, Musirin, Mohamed,

& Hussain, 2010) by applying Ralston’s method to predict the two trajectory points of

voltage magnitude, power flow, and maximum generator rotor angle difference. Ref (Hahn,

Kim, Hur, Park, & Yoon, 2008) proposed a faster method to estimate ATC using fuzzy logic

with voltage magnitudes and power limits as the constraints. Kumar. A. et al carried out ATC

assessment in a competitive electricity market by using bifurcation approach. In this method,

it was assumed there are no static and dynamic security violations and the system operator

(SO) simply dispatches all the requested transactions and charges for transmission

services(Kumar, Srivastava, & Singh, 2009).

All the above methods determined a type of ATC known as static ATC which is

called so because the ATC value is determined based on static constraints such as line flow

limits, bus voltage limits, thermal limits, generator real and reactive power limits. The

limiting condition on some portions of the transmission network can shift among thermal,

voltage, and stability limits as the network operating conditions change over time. Such

variations further complicate the determination of transfer capability limits but must be

addressed in order to come up with relatively accurate value of ATC as well as guaranteeing

the security in the transmission system for reliability reasons(Natarajan et al., 1992).

3

It is therefore desirable to determine ATC by considering dynamic constraints such as

small disturbance (small signal) rotor angle stability and large-disturbance rotor angle

stability or transient stability. ATC determined with the additional dynamic constraints is

termed as dynamic ATC (DATC).

Some papers have been presented in literature in which DATC has been determined.

Dynamic ATC has been calculated using energy function based Potential Energy Boundary

Surface (PEBS) method (D.M.V.Kumar and C. Venkaiah, 2009), in which ATC was

computed for real time applications using two different neural networks; Back Propagation

Algorithm (BPA) and Radial Basis Function (RBF) Neural Network. The limitation with

neural networks is that they require high processing time and are also expensive to operate. In

(Yue Yuan, J. Kubokawa, 2004), by establishing a novel method for integrating transient

stability constraints into conventional steady-state ATC problem, the dynamic ATC problem

was successfully formulated as an optimal power flow- based optimization problem and ATC

was further determined by integrating transient stability constraints into ATC calculation.

However this method is not suitable for large systems because there are many power flow

path due large number of buses which may affect the fuzzy determination of ATC, since it

requires less inputs. Structure-preserving energy function model, which retains the topology

of the network, along with transient stability limit, was used to compute dynamic ATC for

bilateral as well as multilateral transactions in an electricity market (ain T., Singh S.N.,

2008). The authors presented a hybrid method of computing dynamic ATC by utilising both

direct and time TDS methods to reduce the computational burden involved in the TDS.

However, this method proves to be complicated since it involves the computation of several

indices and algorithms to determine ATC. Enrico. D et al introduced a static optimisation

approach, based on nonlinear programming techniques, for assessing Dynamic ATC in real-

time environment. This method evaluated ATC with full representation of the power system

dynamic behaviour on the transient time scale (De Tuglie, Dicorato, La Scala, & Scarpellini,

2000). Another paper was presented in (Xuemin Zhang, Song Y.H., 2004) where dot product

was used as a criterion for rotor angle stability and an algorithm based on control variable

parameterization was implemented to solve the formulated dynamic-constrained optimization

problem. A differential evolution algorithm (IDE) was established where ATC was calculated

based on transient stability constrained optimal flow (TSCOPF) (Jun Wang and Xingguo Cai

and Dongdong Wang, 2009). The model adopted the hybrid method to judge the transient

stability of the system, which solved imprecision problem in confirming boundaries of the

4

rotor angle relative the center of inertia when the power-angle restriction was made as the

stability criterion.

1.2 Project objectives

The objectives of the projects are;

i. To develop the methodology for determining ATC under dynamic constraints

ii. To test the developed methodology by using a standard IEEE power system

iii. To validate the proposed technique using by comparing with the existing

techniques

1.3 Problem statement

Although some methods have been used to determine DATC, they are very few and

have a limitation of complexity and are considerably slow. ATC computation requires a

simple and faster computing technique since it has to be updated every time due to the

dynamic nature of power systems. In this project therefore ATC determination has been

formulated using Fast Decouple power flow solution. Its advantages are that it iterates very

fast, a common method in power system(Gomez & Betancourt, 1990) and simple to

implement. It is a powerful analytical tool involving numerical analysis based optimizing a

famous Newton Raphson method which is used for routine solution. Numerical methods are

very powerful and efficient because they incorporate the physical properties of the system

being studied. MATLAB software has been used as a programming language. MATLAB is a

high-level technical computing language with interactive environment for algorithm

development, data visualization, data analysis, and numeric computation.

1.4 Project Scope

The project scope consists of the following;

i. The general scope was to determine ATC under dynamic constraints.

5

ii. The dynamic constraint that was considered is the variations in the rotor angle

to analyze the transient stability condition.

iii. Type of transient stability considered is the small signal stability

iv. The project involves determining ATC by considering area to area transfer

capability without considering multilateral transactions.

1.5 Outline of the Project report

This Project report consists of five chapters;

Chapter 1 gives the background of the problem under this research from which

objectives, problem statement, scope and the limitation of the project are stated.

Chapter 2 is about the literature review; it gives a brief context of the theories and

methods used in accomplishing this research. It deals first with theoretical background of the

concepts and finally gives the critical review of some selected research papers relevant to

Project report title.

Chapter 3 is about methodology of the project. It explains briefly the modifications

that were done on the primary theories and methods to come up with the design and

implementation of the project.

Chapter 4 gives the results, analysis, testing and validation of the results of this

Project report.

Finally chapter 5 concludes the Project report as well as the further work related to

this research.

59

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